• DocumentCode
    2566977
  • Title

    Dynamic modeling and kinematic simulation of Stäubli© TX40 robot using MATLAB/ADAMS co-simulation

  • Author

    Cheraghpour, F. ; Vaezi, Masoud ; Jazeh, H. E. Shoori ; Moosavian, S.A.A.

  • Author_Institution
    Pardis Branch, Dept. of Mech. Eng., Islamic Azad Univ., Pardis, Iran
  • fYear
    2011
  • fDate
    13-15 April 2011
  • Firstpage
    386
  • Lastpage
    391
  • Abstract
    This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.
  • Keywords
    industrial robots; mathematics computing; robot dynamics; robot kinematics; MATLAB-ADAMS co-simulation; Staubli TX40 robot; dynamic modeling software; industrial robot; kinematic simulation; Computer languages; Equations; Genetics; Joints; Manipulators; Mathematical model; Dynamic Modeling; Genetic Algorithm; Inverse and Forward Kinematics; Robot; Simulation;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics (ICM), 2011 IEEE International Conference on
  • Conference_Location
    Istanbul
  • Print_ISBN
    978-1-61284-982-9
  • Type

    conf

  • DOI
    10.1109/ICMECH.2011.5971316
  • Filename
    5971316
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2566977